/Engine/Source/Runtime/Experimental/ChaosCore/Public/Chaos/Rotation.h
This should match the algorithm used in PerParticleUpdateFromDeltaPosition rule.
static TVector< FRealDouble, 3 > CalculateAngularVelocity &40; const TRotation< FRealDouble, 3 > & InR0, const TRotation< FRealDouble, 3 > & InR1, const FRealDouble InDt &41;